Dissipative iFIR filters for data-driven design
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2024
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| _version_ | 1866916680884551680 |
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| author | Wang, Zixing Zhang, Yi Forni, Fulvio |
| author_facet | Wang, Zixing Zhang, Yi Forni, Fulvio |
| contents | We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints are formulated as a set of linear inequalities in the frequency domain. This leads to a convex problem that is scalable with respect to the length of the data and the complexity of the controller. An extension of virtual reference feedback tuning to include disturbance dynamics is also discussed. The proposed data-driven control design is illustrated by a soft gripper impedance control example. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2412_00211 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Dissipative iFIR filters for data-driven design Wang, Zixing Zhang, Yi Forni, Fulvio Systems and Control Robotics Optimization and Control We tackle the problem of providing closed-loop stability guarantees with a scalable data-driven design. We combine virtual reference feedback tuning with dissipativity constraints on the controller for closed-loop stability. The constraints are formulated as a set of linear inequalities in the frequency domain. This leads to a convex problem that is scalable with respect to the length of the data and the complexity of the controller. An extension of virtual reference feedback tuning to include disturbance dynamics is also discussed. The proposed data-driven control design is illustrated by a soft gripper impedance control example. |
| title | Dissipative iFIR filters for data-driven design |
| topic | Systems and Control Robotics Optimization and Control |
| url | https://arxiv.org/abs/2412.00211 |